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x ~x dW
;y ~ydW
;z ~z dW
dW dW dW
9.2 Center of Gravity and Center
of Mass and Centroid for a Body
Center Mass
γ represents the specific weight and dW = γdV
~xdV
~ydV
~z dV
x V ;y V ;z V
dV dV dV
V V V
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Center of Mass
Density ρ, or mass per unit volume, is
related to γ by γ = ρg, where g =
acceleration due to gravity
Substitute this relationship into this equation
to determine the body’s center of mass
xdV
~
ydV
~
zdV
~
x V ;y V ;z V
dV dV dV
V V V
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Centroid
Defines the geometric center of object
Its location can be determined from
equations used to determine the body’s
center of gravity or center of mass
If the material composing a body is uniform
or homogenous, the density or specific
weight will be constant throughout the body
The following formulas are independent of
the body’s weight and depend on the body’s
geometry
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Centroid
Volume
Consider an object subdivided into volume
elements dV, for location of the centroid,
~x dV
~ydV
~z dV
x V ;y V ;z V
dV dV dV
V V V
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Centroid
Area
For centroid for surface area of an object,
such as plate and shell, subdivide the area
into differential elements dA
~x dA
~ydA
~z dA
xA ;y A ;z A
dA dA dA
A A A
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Centroid
Line
If the geometry of the object such as a thin rod
or wire, takes the form of a line, the balance of
moments of differential elements dL about each
of the coordinate system yields
~x dL
~ydL
~z dL
xL ;y L ;z L
dL dL dL
L L L
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Line
Choose a coordinate system that simplifies as
much as possible the equation used to
describe the object’s boundary
Example
Polar coordinates are appropriate for area
with circular boundaries
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Symmetry
The centroids of some shapes may be partially or
completely specified by using conditions of
symmetry
In cases where the shape has an axis of
symmetry, the centroid of the shape must lie
along the line
Example
Centroid C must lie along the
y axis since for every element
length dL, it lies in the middle
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Symmetry
For total moment of all the elements about
the axis of symmetry will therefore be
cancelled
x dL 0 x 0
~
dL
1 1
L
0 4 y 2 1 dy 0 4 y 2 1 dy
0.6063
0.410m
1.479
ydL 1 y 4 y 2 1 dy
~
yL 01
dL 4 y 2 1 dy
0
L
0.8484
0.574m
1.479
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Example 9.2
Locate the centroid of
the circular wire
segment.
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Differential element
A differential circular arc is selected
This element intersects the curve at (R, θ)
Length and Moment Arms
For differential length of the element
dL Rd
For centroid,
x R cos
~ y R sin
~
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Integrations
~x dL / 2 R cos R d R2
/2
cos d
x L 0
/2
0
/2
dL 0 R d R
0
d
L
2R
~ydL / 2 R sin R d R 2 / 2 sin d
yL 0 /2 0
/2
dL
0 R d R 0 d
L
2R
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Example 9.3
Determine the distance
from the x axis to the
centroid of the area
of the triangle
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Differential element
Consider a rectangular element having
thickness dy which intersects the boundary
at (x, y)
Length and Moment Arms
For area of the element
b
dA xdy h y dy
h
Centroid is located y distance from the x
axis yy
~
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Integrations
ydA
~ b
h y dy
h
y
h h
0
y A
A dA 0 b h y dy
h
1 2
bh
6 h
1
bh 3
2
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Example 9.4
Locate the centroid for
the area of a quarter
circle.
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Method 1
Differential element
Use polar coordinates for circular boundary
Triangular element intersects at point (R,θ)
Length and Moment Arms
For area of the element
1 R2
dA ( R)( R cos ) d
2 2
Centroid is located y distance from the x axis
2 2
x R cos
~ y R sin
~
3 3
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Integrations
~
x dA / 2 2 R2
0 R cos d
2 R / 2 cos d
0
x A 3 2 3
/2
dA / 2 R2
0 d 0 d
A 2
4R
3
~ydA / 2 2 2
R d 2 R / 2 sin d
0
3
R sin
2
3
0
y A /2
dA / 2 R2
0 2 d 0 d
A
4R
3
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Method 2
Differential element
Circular arc element
having thickness of dr
Element intersects the
axes at point (r,0) and
(r, π/2)
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Area and Moment Arms
For area of the element
dA 2r / 4dr
Centroid is located y distance from the x axis
~x 2r / ~y 2r /
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Integrations
~x dA 0R 2r 24r dr R r 2 dr
xA 0
R 2r R
dA 0 4 dr
2 0
r dr
A
4R
3
~ydA 0R 2r 24r dr R r 2 dr
yA 0
R 2r R
dA
0 4 dr
2 0
r dr
A
4R
3
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Example 9.5
Locate the centroid of
the area.
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Method 1
Differential element
Differential element of thickness dx
Element intersects curve at point (x, y), height y
Area and Moment Arms
For area of the element
dA ydx
For centroid
xx
~ y y/2
~
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Integrations
x dA
~ 1
0 xy dx
1 3
x dx
x A 0
dA
1 1 2
A
0 y dx 0
x dx
0.250
0.75m
0.333
~ydA 1( y / 2) y dx 1( x2 / 2) x2 dx
yA 0 1 0 1
dA y dx
0 dx
x 2
0
A
0.100
0.3m
0.333
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Method 2
Differential element
Differential element
of thickness dy
Element intersects
curve at point (x, y)
Length = (1 – x)
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Area and Moment Arms
For area of the element
dA 1 x dy
Centroid is located y distance from the x axis
~x x 1 x 1 x
2 2
~y y
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Integrations
x dA 11 x / 21 x dx
~ 1 1
1 y dy
x A 0 2 0
dA 0 1 y dy
1 1
A
0 1 x dx
0.250
0.75m
0.333
~ydA 1 y1 x dx 1 y y3 / 2 dy
yA 01 01
dA 1 x dx 1 y dy
0 0
A
0.100
0.3m
0.333
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Example 9.6
Locate the centroid of
the shaded are bounded
by the two curves
y=x
and y = x2.
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Method 1
Differential element
Differential element of thickness dx
Intersects curve at point (x1, y1) and (x2, y2), height y
Area and Moment Arms
For area of the element
dA ( y2 y1) dx
For centroid
xx
~
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Integrations
~x dA
1
x y2 y1 dx
1
x x x 2 dx
x A 1
0 1
0
dA 0 y2 y1 dx 0 x x2 dx
A
1
12 0.5m
1
6
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Method 2
Differential element
Differential element
of thickness dy
Element intersects
curve at point (x1, y1)
and (x2, y2)
Length = (x1 – x2)
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Area and Moment Arms
For area of the element
dA x1 x2 dy
Centroid is located y distance from the x axis
~x x x1 x2 x1 x2
2
2 2
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Integrations
x dA
~
x
1
1 x2 / 2x1 x2 dx
1
y y /2
y y dy
x A
0
0
dA x x2 dx
1 1
1 y y dx
0 0
A
1 1
0 y y 2
dy
1
21 12 0.5m
0 y y dx 1
6
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Example 9.7
Locate the centroid for the
paraboloid of revolution,
which is generated by
revolving the shaded area
about the y axis.
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Method 1
Differential element
Element in the shape of a thin disk, thickness dy,
radius z
dA is always perpendicular to the axis of revolution
Intersects at point (0, y, z)
Area and Moment Arms
For volume of the element
dV z 2 dy
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
For centroid
~
yy
Integrations
ydV
~ 100
y z dy
2
100
100 y 2 dy
yV 0
0
dV z dy
100 100
2
100 y dy
0 0
V
66.7mm
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Method 2
Differential element
Volume element in the form of thin
cylindrical shell, thickness of dz
dA is taken parallel to the axis of
revolution
Element intersects the
axes at point (0, y, z) and
radius r = z
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Area and Moment Arms
For area of the element
y V
0
dV 2z100 y dz
100
0
V
z 104 104 z 4 dz
100
0
2
0
100
z 100 10 2 z 2 dz
66.7m
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Example 9.8
Determine the location of
the center of mass of the
cylinder if its density
varies directly with its
distance from the base
ρ = 200z kg/m3.
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
View Free Body Diagram
Solution
For reasons of material symmetry
x y0
Differential element
Disk element of radius 0.5m and thickness dz since
density is constant for given value of z
Located along z axis at point (0, 0, z)
Area and Moment Arms
For volume of the element
dV 0.5 dz
2
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
For centroid
z z
~
Integrations
z dV
~
1
z (200 z ) 0.52 dz
z V
~ 01
dV 0 ( 200 z ) 0.5 2
dz
V
1 2
0
z dz
0.667m
1
0 zdz
9.2 Center of Gravity and Center of
Mass and Centroid for a Body
Solution
Not possible to use a shell
element for integration
since the density of the
material composing the
shell would vary along the
shell’s height and hence the
location of the element
cannot be specified
9.3 Composite Bodies
Where
x , y, z represent the coordinates of the center
of gravity G of the composite body
~
x , ~y , ~z represent the coordinates of the center
of gravity at each composite part of the body
W represent the sum of the weights of all
the composite parts of the body or total weight
9.3 Composite Bodies
Center of areas
9.3 Composite Bodies
Example 9.9
Locate the centroid of the wire.
9.3 Composite Bodies
Solution
Composite Parts
Moment Arms
Location of the centroid for each piece is
determined and indicated in the diagram
9.3 Composite Bodies
Solution
Summations
Segment L x (mm) y (mm) z (mm) xL yL zL
(mm) (mm2) (mm2) (mm2)
2 40 0 20 0 0 800 0
Solution
Summations
~
x L 11310
x 45.5mm
L 248.5
~
y L 5600
y 22.5mm
L 248.5
~
z L 200
z 0.805mm
L 248.5
9.3 Composite Bodies
Example 9.10
Locate the centroid of the plate area.
9.3 Composite Bodies
Solution
Composite Parts
Plate divided into 3 segments
Area of small rectangle considered “negative”
9.3 Composite Bodies
Solution
Moment Arm
Location of the centroid for each piece is
determined and indicated in the diagram
9.3 Composite Bodies
Solution
Summations
Segment A (m2) x (m) y (m) xA (m3) yA (m3)
3 -2 -2.5 2 5 -4
Sum 11.5 -4 14
9.3 Composite Bodies
Solution
Summations
xA 4
x 0.34m
A 11.5
yA 14
y 1.22m
A 11.5
9.3 Composite Bodies
9.3 Composite Bodies
9.3 Composite Bodies
9.3 Composite Bodies
Example 9.11
Locate the center of mass of the
composite assembly. The conical
frustum has a density of
ρc = 8Mg/m3 and the hemisphere
has a density of ρh = 4Mg/m3.
There is a 25mm radius
cylindrical hole in the center.
9.3 Composite Bodies
View Free Body Diagram
Solution
Composite Parts
Assembly divided into 4 segments
Area of 3 and 4 considered “negative”
9.3 Composite Bodies
Solution
Moment Arm
Location of the centroid for each piece is
determined and indicated in the diagram
Summations
Because of symmetry,
x y 0
9.3 Composite Bodies
Solution
Summations
Segment m (kg) z (mm) zm (kg.mm)
1 4.189 50 209.440
4 -1.571 50 -78.540
Solution
Summations
~
z m 45.815
z 14.6mm
m 3.141
9.4 Theorems of Pappus and
Guldinus
A surface area of revolution is generated by
revolving a plane curve about a non-intersecting
fixed axis in the plane of the curve
A volume of revolution is generated by revolving
a plane area bout a nonintersecting fixed axis in
the plane of area
Example
Line AB is rotated about
fixed axis, it generates
the surface area of a
cone (less area of base)
9.4 Theorems of Pappus and
Guldinus
Example
Triangular area ABC rotated
about the axis would
generate the volume of
the cone
r 4 R / 3
For volume,
V ~
r A;
4R 1 2 4 3
V 2 R R
3 2 3
9.5 Resultant of a General
Distributed Loading
Pressure Distribution over a Surface
Consider the flat plate subjected to the loading
function ρ = ρ(x, y) Pa
Determine the force dF acting on the differential area
dA m2 of the plate, located at the differential point
(x, y)
dF = [ρ(x, y) N/m2](d A m2)
= [ρ(x, y) d A]N
Entire loading represented as
infinite parallel forces acting on
separate differential area dA
9.5 Resultant of a General
Distributed Loading
Pressure Distribution over a Surface
This system will be simplified to a
single resultant force FR acting through
a unique point on the plate
9.5 Resultant of a General
Distributed Loading
Pressure Distribution over a Surface
Magnitude of Resultant Force
To determine magnitude of FR, sum the
differential forces dF acting over the plate’s
entire surface area dA
FR F ; ( x, y)dA dV
A V
Magnitude of resultant
force = total volume under
the distributed loading
diagram
9.5 Resultant of a General
Distributed Loading
Pressure Distribution over a Surface
Location of Resultant Force
x ( x, y )dA xdV
x A
V
( x, y)dA dV
A V
y ( x, y )dA ydV
y A
V
( x, y)dA dV
A V
dV
V dV
V
3
For resultant force
FR Fx2 Fy2 (225.1) 2 (50.0) 2
231kN
9.6 Fluid Pressure
Example 9.15
Determine the magnitude and location of
the resultant force acting on the triangular
end plates of the wafer of the water trough.
ρw = 1000 kg/m3
9.6 Fluid Pressure
View Free Body Diagram
Solution
Magnitude of the resultant force F = volume of
the loading distribution
Choosing the differential volume element,
dF dV dA w gz (2 xdz ) 19620 zxdz
For equation of line AB
x 0.5(1 z )
Integrating
1
F V dV (19620) z[0.5(1 z )]dz
V 0
1
9810 ( z z 2 )dz 1635N 1.64kN
0
9.6 Fluid Pressure
Solution
Resultant passes through the centroid of the
volume
Because of symmetry
x 0
z
z dV
V
~
0
z (19620) z[0.5(1 z )]dz
VdV 1635
1
9810 ( z 2 z 3 )dz
0 0.5m
1635
Chapter Summary
Center of Gravity and Centroid
Center of gravity represents a point where the
weight of the body can be considered
concentrated
The distance to this point can be determined by
a balance of moments
Moment of weight of all the particles of the body
about some point = moment of the entire body
about the point
Centroid is the location of the geometric center
of the body
Chapter Summary
Center of Gravity and Centroid
Centroid is determined by the moment balance
of geometric elements such as line, area and
volume segments
For body having a continuous shape, moments
are summed using differential elements
For composite of several shapes, each having a
known location for centroid, the location is
determined from discrete summation using its
composite parts
Chapter Summary
Theorems of Pappus and Guldinus
Used to determine surface area and volume of a
body of revolution
Surface area = product of length of the
generating curve and distance traveled by the
centroid of the curve to generate the area
Volume = product of the generating area and the
distance traveled by the centroid to generate the
volume
Chapter Summary
Fluid Pressure
Pressure developed by a fluid at a point on a
submerged surface depends on the depth of the
point and the density of the liquid according to
Pascal’s law
Pressure will create a linear distribution of
loading on a flat vertical or inclined surface
For horizontal surface, loading is uniform
Resultants determined by volume or area under
the loading curve
Chapter Summary
Fluid Pressure
Line of action of the resultant force passes
through the centroid of the loading
diagram
Chapter Review
Chapter Review
Chapter Review
Chapter Review
Chapter Review
Chapter Review